A laser guided vehicle provided with cleaning means for use in a warehouse and an apparatus for managing a fleet comprising such vehicle

Abstract

A warehouse includes a management apparatus with a management control unit (ECU) and a fleet of laser guided vehicles (7), in turn comprising a first and a second laser guided vehicle (7b) including respective propulsion assemblies (10), respective laser detection assemblies (11) to detect respective information about the relative positions of reflectors (12) by emitting laser beams onto the reflectors (12) and receiving the reflected laser beams, and respective control units (13) configured to control the respective propulsion assemblies (10) according to relative target trajectories as a function of the respective information detected via the laser detection assemblies (11), the first vehicle having a cleaning device (31, 37, 38, 51, 57, 58, 81, 92, 93) configured to clean the floor (2), the second vehicle having a handling device (8) to store and / or pick up at least one loading unit (9), wherein the control unit (ECU) sets the target trajectories of the first and second laser guided vehicles in real time.

Description

[0001] “A LASER GUIDED VEHICLE PROVIDED WITH CLEANING MEANS FOR USE IN A WAREHOUSE AND AN APPARATUS FOR MANAGING A FLEET

[0002] COMPRISING SUCH VEHICLE”

[0003] Cross-Reference to Related Applications

[0004] This Patent Application claims priority from Italian Patent Application No. 102024000027492 filed on December 4, 2024, the entire disclosure of which is incorporated herein by reference.

[0005] Technical Field

[0006] The invention relates to a laser guided vehicle with cleaning means or devices for cleaning a warehouse. More in particular, the invention further relates to a fleet including such vehicle with other laser guided vehicles optionally having other respective cleaning means, as well as an apparatus for managing the fleet during a cleaning of the warehouse.

[0007] Prior Art

[0008] The use of laser guided vehicles is known in warehouses for storing and picking up loading units on the present racks. The loading units, sometimes defined by pallets, are generally supports for supporting or containing items to be stored in a warehouse.

[0009] Laser guided vehicles, also known by the acronym LGVs, form part of the family of automated guided vehicles, correspondingly known by the acronym AGVs.

[0010] Typically, LGVs use laser for locating them in the warehouse. In particular, LGVs are equipped with a laser device that is capable of emitting laser beams and detecting the reception of the same laser beams reflected by specially provided reflectors strategically distributed in the warehouse.

[0011] The time elapsed between the emission and the reception of the laser beam reflected by a reflector, as well as the orientation of the emitted laser beam allow the LGV to identify the position of the reflector relative to a reference system fixed to the LGV.

[0012] The piece of information about the relative position of the reflector, combined with odometric information extracted from specially provided sensors mounted on the LGV, allows determining its current position, typically via a state observer, for example a Kalman filter.

[0013] In turn, knowing the current position of the LGV allows for the feedback control of the trajectory of the LGV in the warehouse, so as to have a substantially autonomous driving of the LGV.

[0014] The presence of a large fleet of LGVs or, more generally, AGVs operating in the warehouse to move the stored or to-be-stored loading units can however hinder the performance of other operations necessary for the warehouse, especially in the fairly frequent case where the management or movement of the loading units of the warehouse is fully automated via the LGVs.

[0015] In particular, the movement of the loading units or, more generally, the operativity of the warehouse inevitably causes the forming of various types of dirt, e.g. dusts, debris of variable dimension, in particular on the flooring of the warehouse. Therefore, thorough cleaning operations of the warehouse are necessary.

[0016] Normally, in order not to interfere with the operation of the LGVs, such cleaning operations are carried out during specifically dedicated periods, for example during periods of low warehouse load or when the LGVs have no assigned missions, whereby they are substantially inactive.

[0017] This clearly represents a drawback, as in this manner the operativity of the warehouse is stopped in order to carry out cleaning activities, which in actual fact are unproductive from the economic point of view, although necessary to correctly carry out the activities.

[0018] Therefore, the need is felt to address or eliminate the drawback set forth above.

[0019] An object of the invention is to meet the need set forth above, preferably in a simple and repeatable manner.

[0020] Description Of The Invention

[0021] The object is achieved via a laser guided vehicle, as claimed in claim 1.

[0022] The dependent claims define particular embodiments of the invention.

[0023] Brief Description Of The Drawings

[0024] In order to better understand the invention, an embodiment thereof is described in the following by way of non-limiting example and with reference to the accompanying drawings, wherein:

[0025] - Figure 1 is a plan view, with elements schematized for clarity, of a warehouse with a fleet of laser guided vehicles comprising at least one laser guided vehicle according to the invention,

[0026] - Figure 2 is a perspective view of a laser guided vehicle according to an embodiment of the invention,

[0027] - Figure 3 is a bottom perspective view of the vehicle of Figure 2,

[0028] - Figure 4 is a perspective view of the vehicle of Figure 2 at a recharging column,

[0029] - Figures 5-7 are perspective views of the vehicle of Figure 2, with parts removed for clarity, according to respective operating configurations,

[0030] - Figure 8 is a side view of the vehicle of Figure 2 in the operating configuration of Figure 7 at a waste discharging station,

[0031] - Figure 9 is a perspective view of a laser guided vehicle according to a further embodiment of the invention,

[0032] - Figure 10 is a bottom perspective view of the vehicle of Figure 9,

[0033] - Figure 11 is a perspective view of the vehicle of Figure 9 in an interfacing position with a restorative station,

[0034] - Figure 12 is a section of a portion of Figure 11,

[0035] - Figure 13 is a perspective view of a laser guided vehicle according to a further embodiment of the invention,

[0036] - Figure 14 is similar to Figure 13 and shows a variant of the vehicle of Figure 13,

[0037] - Figure 15 is a perspective view of a laser guided vehicle according to a further embodiment of the invention,

[0038] - Figure 16 is a perspective view of a cleaning station for cleaning laser guided vehicles, and

[0039] - Figure 17 is a plan view of the cleaning station of Figure 16.

[0040] Embodiments Of The Invention

[0041] In Figure 1, reference numeral 1 is used to indicate, as a whole, a warehouse or, more generally, an environment or plant or system.

[0042] The warehouse 1 has a plurality of portions lb (only one of which is illustrated in Figure 1) with a floor 2 that carries, in particular, a plurality of racks 3 or more generally storage locations fixed to the floor 2. The racks 3 extend vertically, i.e. orthogonal to the floor 2, defining one or more shelves (not illustrated) for storing loading units 9, for example supporting or containing items to be stored in the warehouse 1. More generally, each of the racks is configured to store one or more loading units 9.

[0043] For example, a loading unit 9 can comprise or be defined by a pallet, a tray or box for containing items, or even by one single item to be stored in the warehouse 1, without any loss of generality.

[0044] According to the example in Figure 1, on the plane of the floor 2 or, more generally, on a plane orthogonal to a vertical axis, the racks 3 extend according to respective lengths parallel to a horizontal axis A and respective widths parallel to a horizontal axis B orthogonal to the axis A, in particular with each of the lengths having a greater extension than the corresponding one of the widths. The latter relationship between lengths and widths of the racks 3 is merely exemplifying, whereby it could also be valid only for a part of the racks 3, just as the widths could be greater than the lengths for some or all of the racks 3.

[0045] The racks 3 are divided into a plurality of rows, whereby the racks 3 of each row are aligned with one another according to a corresponding axis parallel to the axis B defining corridors 4 along directions parallel to the axis A between two adjacent racks 3 of the row.

[0046] Each row is separated from a successive row via a corridor 5 along the axis B.

[0047] In the example of Figure 1, in a non-limiting manner, each corridor 5 runs alongside two of the rows, in particular along the entire dimension of the relative longest row according to the axis B.

[0048] The corridors 4 communicate with the corridors 5, whereby the latter allow accessing the corridors 4.

[0049] In particular, each corridor 5 forms part of a relative zone 6 of the portion lb, which further comprises an area occupied by at least one portion of a rack 3 or a row of racks 3 adjacent to the relative corridor 5. Possibly, the zone 6 also comprises a further area located on the side opposite the previous area and occupied by at least one portion of a further rack 3 or row of racks 3 adjacent to the corridor 5.

[0050] More in particular, each corridor 4 or portion thereof forming part of the zone 6 defines or forms part of a warehouse unit 6b.

[0051] More in general, the zone 6 can be defined as a smaller part of the portion lb, whereby each portion lb will have a plurality of zones 6; the zone 6 could also comprise parts of the portion lb dedicated to the production of items or the preparation of items, in particular on the loading unit 9, for the storage in the warehouse 1 or the shipment out of the warehouse 1, namely more in particular parts devoid of the racks 3.

[0052] Independently, a warehouse unit 6b can comprise or be defined, more in general, as an elementary surface or surface element of the floor 2 of the zone 6, for example defined by a location in front of a portion of a rack 3. Therefore, each zone 6 will have a plurality of warehouse units 6b and / or can be defined as a set of warehouse units 6b, of which each warehouse unit 6b is adjacent to and communicating with at least one other warehouse unit 6b of the set.

[0053] Each zone 6 or warehouse unit 6b of the warehouse 1 can have a storage capacity of its own for storing items or loading units 9, for example defined by the racks 3 and by their shelves, or by other suitable storage devices, such as wall compartments, crates, containers, and the like.

[0054] The storage capacity can be saturated with items or loading units 9 at 100%, just as it can remain unused.

[0055] Therefore, each zone 6 or warehouse unit 6b can have a fill level relative to its storage capacity; for example, the fill level can be expressed as a percentage of the storage capacity of the zone 6 or warehouse unit 6b.

[0056] The warehouse 1 comprises or is provided with a fleet of laser guided vehicles 7 (only three of which are conceptually represented schematically in Figure 1).

[0057] Each of the laser guided vehicles 7 of the fleet (more simply indicated in the following as vehicle 7) comprises:

[0058] - a propulsion assembly 10 configured to move the vehicle 7 on the ground, in particular on the floor 2,

[0059] - a laser detection assembly 11 configured to detect information about the relative positions of one or more reflectors or characteristic points 12 of the warehouse 1 by emitting (in particular respective) laser beams onto the reflectors or characteristic points 12 and (subsequently) receiving the reflected laser beams, and

[0060] - a control unit 13 configured to control the propulsion assembly 10 to move the vehicle 7 according to a target trajectory as a function of the information detected via the laser detection assembly 11.

[0061] The propulsion assembly 10 comprises, in general, a power emission apparatus for emitting power and a transmission apparatus configured to transform the power emitted by the power emission apparatus into a motion of the vehicle 7.

[0062] The motion imparted to the vehicle, in particular via the power emission apparatus and the transmission apparatus, can be preferably represented in an operating space or configuration space.

[0063] More in detail, the representation in the operating space includes information about the position of the vehicle 7 in the warehouse and, in a distinct manner, about the orientation of the vehicle 7.

[0064] For example, the information about the position can be defined by a pair of coordinates on a plane. In particular, the coordinates can be those of an origin of a reference system fixed to the vehicle 7.

[0065] Independently, the information about the orientation can be defined, for example, by a rotation angle of the vehicle 7 on itself and, more in particular, by a rotation angle of the reference system with respect to an axis thereof orthogonal to the plane.

[0066] The coordinates are relative to an absolute reference system, namely fixed with respect to the warehouse 1, whereby they define an absolute position of the reference system and thus of the vehicle 7. Similarly, the rotation angle defines an absolute orientation of the reference system and thus of the vehicle 7, in particular on the floor 2. Consequently, the overall absolute pose of the vehicle 7 (with respect to the absolute reference system) is defined by the coordinates and the rotation angle.

[0067] Therefore, specifically, a point of the operating space comprises the coordinates and the rotation angle.

[0068] The propulsion assembly 10 can be configured, more precisely via the power emission apparatus and the transmission apparatus, to move the vehicle 7 in the operating space.

[0069] In detail, the vehicle 7 generally defines a dynamic system having controls or inputs, namely variables controllable via the propulsion assembly 10, and a state (in particular, a state vector) dependent on the controls.

[0070] In turn, the state of the vehicle 7 determines the position of the vehicle 7 in the warehouse 1 and the orientation of the vehicle 7, i.e. its pose in the operating space.

[0071] For example, the state of the vehicle 7 could comprise the above-mentioned coordinates (indicative of the position) and the rotation angle (indicative of the orientation).

[0072] The state of the vehicle 7 could comprise not only the coordinates and the rotation angle, but also for example, in a non-exhaustive manner, their first and / or second time derivatives.

[0073] Alternatively or additionally, the state could comprise quantities different from those mentioned above, but anyway indicative, for example in a univocal manner, of the coordinates and rotation angle, such that these are derivable, in particular directly and unequivocally, from the quantities of the state.

[0074] The transmission apparatus of the propulsion assembly 10 comprises one or more movable driving members (with respect to a frame 15 of the vehicle 7) configured to cooperate with the ground (specifically the floor 2), such that a motion of the driving members corresponds to an advancement of the vehicle 7 on the ground.

[0075] In particular, the driving members comprise a pair of wheels 14 aligned along an axis C and carried by the frame 15 of the vehicle 7 in a rotating manner about the axis C. The wheels 14 are arranged to cooperate with the ground, such that their rotation corresponds to an advancement of the vehicle 7 on the ground.

[0076] Furthermore, for a better support and stability of the vehicle 7 on the ground, the vehicle 7 comprises one or more swivel castors 17 configured to cooperate with the ground, in particular in an idle manner. More in detail, the swivel castors 17 each comprise a bracket 18 and a wheel 19; the bracket 18 is carried by the frame 15 in a pivoting manner about a vertical axis D (or transversal to the ground), whereas the wheel 19 is carried by the bracket 18 in a rotating manner about an axis E orthogonal to the axis D and fixed with respect to the bracket 18.

[0077] According to alternative examples not illustrated, the driving members could comprise tracked members, movable runners, etcetera, alternatively or additionally to the previously specified driving members.

[0078] The power emission apparatus of the propulsion assembly 10 could comprise a motor 20 and a motor 21 for respectively driving into rotation the wheels 14 in a manner independent of one another, in particular via respective powers emitted by the motors 20, 21. The transmission device of the propulsion assembly 10 preferably comprises one or more transmission members (for example of the known type and not illustrated) configured to couple the motors 20, 21 to the respective wheels 14 and transmit the respective emitted powers to the wheels 14, respectively, so as to independently drive into rotation the wheels 14 about the axis C.

[0079] The possibility of making the wheels 14 rotate or thus of controlling the rotations of the wheels 14 (in particular via the respective powers emitted by the motors 20, 21) in an independent manner involves the possibility of producing a differential speed effect between the wheels 14 so as to make the vehicle 7 curve, thereby allowing a variation in the orientation of the vehicle 7.

[0080] In this manner, the respective rotations (controllable via the powers emitted by the motors 20, 21) of the wheels 14 allow both a variation in the position of the vehicle 7, and a variation in the orientation of the vehicle 7, namely an overall variation in the pose of the vehicle 7 in the operating space.

[0081] Therefore, the powers emitted by the motors 20, 21 could define the above- mentioned controls or inputs, on which in particular the state of the vehicle 7 depends, as well as thus the pose of the same vehicle 7 in the operating space.

[0082] Alternatively, the controls or inputs could be defined by other quantities respectively indicative, in particular in a univocal manner, of the powers emitted by the motors 20, 21.

[0083] Preferably, the laser detection assembly 11 can comprise, for example, a device known by the acronym LIDAR (Light Detection and Ranging) or as laser radar, the operation of which is known per se and therefore not described in further detail. Alternatively or additionally, the laser detection assembly 11 can comprise a laser scanner or 3D laser, the operation of which is also known per se.

[0084] More generally, the laser detection assembly 11 can be configured to emit a laser beam along a movable direction, for example rotating about a vertical axis of the vehicle 7 (i.e. fixed to the vehicle 7), more in particular at 360°, i.e. without angle limitations.

[0085] Each of the reflectors 12 is arranged, specifically in the warehouse 11, in a manner (in particular at a height) such to be struck by the laser beam with movable direction or, more generally, by at least one of the laser beams emitted by the laser detection assembly 11.

[0086] The laser detection assembly 11 receives the reflected laser beams following their emission; the laser beams are reflected for example by the same reflectors 12 and / or by the warehouse 1 (more precisely by its walls). More in detail, the laser detection assembly 11 comprises a photosensitive receiver arranged to receive the reflected laser beams and configured to generate signals indicative of the relative time elapsed between the emission of the laser beams and the reception of the corresponding reflected beams. The elapsed time and the directions of the laser beams striking the reflectors 12 (the directions are known to the laser detection assembly 11) form part of the information detected by the laser detection assembly 11, more in particular extracted at least in part from the signals generated by the photosensitive receiver, relative to the relative positions of the reflectors 12, namely the positions of the reflectors 12 with respect to the reference system fixed to the vehicle 7.

[0087] The information detected by the detection assembly 11 could comprise, for example, the polar coordinates of the reflectors 12 with respect to the system fixed to the vehicle 7. In fact, the polar coordinates are derivable from the time elapsed between the reception and emission of the laser beams and from the directions of the laser beams striking the reflectors 12 (for example via the known advancement speed of the laser beams, more precisely equal to the speed of light, and / or the emission angles with respect to the fixed reference system of the vehicle 7 of the laser beams associated with their known directions).

[0088] Preferably, the vehicle 7 comprises a rod 23 that extends vertically in a protruding manner with respect to the remaining part of the vehicle 7, namely substantially defining a pinnacle or an upper tip of the vehicle 7 corresponding to the upper end of the rod 23. The laser detection assembly 11 is carried by the vehicle 7 at the upper end of the rod 23, in particular but not necessarily at the highest point of the vehicle 7. More in detail, the laser detection assembly 11 comprises at least one base body or casing 24 fixed to the rod 23, specifically at its upper end or the highest point of the vehicle 7.

[0089] The control unit 13 uses the information detected via the laser detection assembly 11, whereby it is coupled to it to receive the information.

[0090] For example, the control unit 13 is configured to determine or estimate the current absolute pose of the vehicle 7 (coordinates and rotation angle of the reference system fixed to the vehicle 7, namely the absolute position and orientation) via the information received from the laser detection assembly 11.

[0091] More in detail, the control unit 13 receives, stores, or more generally comprises the absolute positions (with respect to the absolute reference system) of the reflectors 12, as well as a model or mapping (e.g. of the mathematical or theoretical type) to derive the current absolute pose of the vehicle 7 from the information received and from the absolute and relative positions of the reflectors 12, respectively with respect to the absolute reference system and the reference system fixed to the vehicle 7.

[0092] For example, the model comprises a passage from polar coordinates of the reflectors 12 to Cartesian coordinates of the same reflectors 12, and / or a research of the roto- translation that would bring the reference system fixed to the vehicle 7 to coincide with the absolute reference system. The latter research can be made, for example mathematically, in many manners known per se, including the use of the matrix calculation with matrices representative of the reference systems, whereby it will not be described in further detail.

[0093] Preferably, the control unit 13 estimates or determines the state (and thus the current absolute pose included in the state) of the vehicle 7 via a state observer, for example a Kalman filter or a Monte Carlo localization, starting from the information detected as measurements input to the state observer.

[0094] The measurements input to the state observer could comprise odometric quantity measurements of the vehicle 7, in particular measured or detected via relative transducers of the vehicle 7. For example, the odometric quantities could comprise the rotation speed and / or the angular acceleration of the wheels 14, in particular measured by transducers comprising specially provided tachometers, and / or the overall speeds and / or accelerations of the vehicle 7 (namely those of the reference system fixed to the vehicle 7 with respect to the absolute reference system), in particular measured by one or more transducers comprising an inertial measurement unit (IMU).

[0095] The current absolute pose of the vehicle 7 defines a feedback signal, whereby the control unit 13 is preferably configured to control the propulsion assembly 10 according to a closed-loop control law based on the estimated current absolute pose of the vehicle 7 and the target trajectory; the latter in particular comprises or is defined by a trend over time of a target absolute pose (defined for example by the target coordinates and the target rotation angle of the reference system fixed to the vehicle 7).

[0096] In particular, according to the closed-loop control law, the control unit 13 determines a deviation or departure or diversity (for example a difference, a ratio, and the like) between an estimate of the current trajectory of the vehicle 7, which comprises the estimate of the current absolute pose of the vehicle 7, and the target trajectory at the current time instant and further determines the inputs or controls as a function of the deviation. The current trajectory (or its estimate) and the target trajectory could comprise, besides the (current and target) absolute pose, each of the (first and / or second) time derivatives of the quantities associated with the absolute pose.

[0097] More in particular, the control unit 13 calculates an error as difference between the estimate of the current trajectory and the target trajectory at the current time instant and further determines the inputs or controls as a function of the error, for example proportionally to the error or according to a PI (proportional-integrative) or PID (proportional-integrative-derivative) control law, namely according to another control law of known type, possibly non-linear.

[0098] The control unit 13 receives or comprises the target trajectory, for example based on the needs of the warehouse 1.

[0099] The control unit 13 controls the propulsion assembly 10 correspondingly to the determined inputs or controls. For example, the control unit 13 controls the powers emitted by the motors 20, 21 correspondingly to the determined inputs or controls, i.e. to obtain (in an open loop, or according to the intrinsic relationship between the inputs or controls and the emitted powers) the powers emitted by the motors 20, 21, which could even coincide with the determined inputs or controls.

[0100] Preferably, the motors 20, 21 are electric motors, in particular of the direct current type. The vehicle 7 further comprises a rechargeable electric energy storage device 25, which for example comprises one or more batteries and / or capacitors and is coupled to the motors 20, 21 or, more in general, to the power emission apparatus to power the motors 20, 21, or still forms part of the power emission apparatus to power the motors 20, 21. The rechargeable electric energy storage device 25 could be considered as forming part of the propulsion assembly 10.

[0101] The control unit 13 could be carried by the vehicle 7, or be positioned in a remote position with respect to the vehicle 7, although communicating with the latter via suitable telecommunication devices.

[0102] For clarity, each of the specific aspects generally described in the preceding paragraphs of this description for the generic vehicle 7 of the fleet is not to be understood as necessarily applied to all vehicles 7 of the fleet, but could be individually applied in a selective manner, depending on the case, to one or more of the vehicles 7 of the fleet, without any loss of generality. In the following, some specific vehicles that could form part of the fleet of vehicles 7 will be described in greater detail by way of example and not necessarily in a limiting manner.

[0103] The fleet of the vehicles 7 can comprise, for example, at least one service vehicle 7a comprising at least one handling device 8 configured to store and / or pick up loading units 9 on the racks 3 or, more generally, on a shelf or storage location. More in detail, the handling device 8 can comprise a gripping assembly, comprising for example clamps, forks, suction cups, and the like, selectively configured to pick up (or grab) and release the loading units 9 on the racks 3. Furthermore, in particular, the device 8 can comprise a mechanism configured to move the gripping assembly and drive it into positions adapted for picking up and releasing the loading units 9 on the racks 3. For example, the mechanism can comprise a lifter for adjusting a vertical height of the gripping assembly and / or an extractor for adjusting a horizontal position of the gripping assembly, and / or an articulated arm with one or more degrees of freedom for adjusting a complete pose (position and orientation) of the gripping assembly.

[0104] The vehicle 7a is controllable or configured to perform a picking up or storage mission of a loading unit 9 on at least one of the racks 3. The picking up or storage mission comprises reaching the rack 3, for example by travelling along one of the corridors 5 and possibly one of the corridors 4, and controlling the handling device 8 to pick up o release the loading unit 9 on the reached rack 3.

[0105] In general, from here onwards, a mission, which includes for example the above- mentioned picking up or storage mission corresponds to the target trajectory of the vehicle 7 in question, which, for example, is defined above in particular by the vehicle 7a. Therefore, the expressions “mission” and “target trajectory” can be considered interchangeable throughout the following description.

[0106] The fleet of vehicles 7 comprises at least one cleaning vehicle 7b, in turn comprising a cleaning device configured to clean the warehouse 1 and more in particular the floor 2 or to remove dirt from the warehouse 1 and more in particular from the floor 2.

[0107] The cleaning device comprises in particular at least one suction assembly and / or one sweeping assembly respectively configured to suck and sweep waste, for example solid or liquid waste, in particular from the warehouse 1 or more precisely on the floor 2. The suction assembly comprises more in detail at least one suction channel with a suction port arranged to result facing towards the outside of the vehicle 7b, more in particular towards the ground or the floor 2, and a ventilation or vacuum generating device configured to generate a vacuum at the suction channel to suck the waste through the suction port. Preferably, the sweeping assembly comprises brushing means or brushing devices configured to convey or pick up the waste at the suction port (i.e. under the suction port), in particular to facilitate its suction via the suction assembly.

[0108] Alternatively or additionally, the cleaning device can comprise a sanitizing assembly configured to dispense a sanitizing fluid, in particular onto the ground or the floor 2, to sanitize the warehouse 1 or more precisely the floor 2. The sanitizing fluid could be more precisely a detergent and / or sanitizing and / or disinfecting fluid, respectively for deterging, sanitizing, and disinfecting the warehouse 1 or more precisely the floor 2. The sanitizing fluid can be dispensed via the sanitizing assembly onto any object contained or arranged in the warehouse 1 or more precisely resting on or fixed to (more generally carried by) the floor 2.

[0109] The vehicle 7b is controllable or configured to perform a cleaning mission. The cleaning mission or the corresponding target trajectory comprises reaching an object arranged in the warehouse 1 or an area (in particular continuous, i.e. devoid of discontinuities or holes in the middle of the area) of the floor 2 belonging (or pertaining) to or defined by one of the portion lb, the zone 6, and the warehouse unit 6b (for example defined by a corridor 4) and cleaning via the cleaning device the object or the entire surface of the area, i.e. passing on top of all points of the surface of the area or covering the entire surface of the area, i.e. totally covering the area.

[0110] Clearly, the expression “cleaning” includes sucking and sweeping waste, as well as dispensing the sanitizing fluid. Alternatively, but not necessarily, the expression “clean” could be restricted, in some particular embodiments, by an action between sucking, sweeping and dispensing the sanitizing fluid, namely could be defined by said action.

[0111] The cleaning mission corresponds to the target trajectory of the vehicle 7b, herein defining a cleaning target trajectory.

[0112] Preferably, the cleaning target trajectory could comprise in time succession

[0113] - a first trajectory portion, corresponding to a total coverage of a first area of the floor 2, namely to a passage or transit of the vehicle 7b on top of all points of the surface of the first area,

[0114] - a second trajectory portion, corresponding to a transfer of the vehicle 7b from the first area (or from a point thereof) to a second area of the floor 2 (or to a point thereof), distinct from the first area, along a path defined on the floor 2 by a line, for example straight or at least in part curvilinear, more in particular devoid of intersections with itself, and

[0115] - a third trajectory portion, corresponding to a total coverage of the second area, namely to a passage or transit of the vehicle 7b on top of all points of the surface of the second area.

[0116] For example, the line of the path of the second trajectory portion could correspond to the shortest route for reaching the second area from the first area and / or the minimum distance between the first and second areas (namely from a point of the second area to a point of the first area).

[0117] Alternatively or additionally, in case the cleaning mission comprises the cleaning of an object (for example on the floor 2), the cleaning target trajectory could comprise a moving close or approach of the vehicle 7b to the object, according to which the vehicle 7b reaches a distance from the object which is less than or equal to a threshold corresponding to a maximum distance sufficient for cleaning the object via the cleaning device, beyond which the cleaning device is ineffective or unable to clean the object, in particular based on the characteristics or specifications predetermined according to design of the cleaning device.

[0118] In such regard, the vehicle 7b comprises, preferably on board, a transduction apparatus 26 comprising one or more transducers configured to identify the presence of the object, for example remotely, in particular along the target trajectory, and / or to determine one or more quantities indicative of, namely more simply the distance and optionally the orientation, between the vehicle 7b and the object.

[0119] In greater detail, identifying the presence of the object and / or determining the distance between the vehicle 7b and the object can comprise determining a position and / or orientation (namely a pose) of the object relative to the vehicle 7b (i.e. to its fixed reference system) as well as, alternatively or additionally, in an absolute manner (i.e. with respect to the absolute reference system).

[0120] For example, the one or more transducers comprise a vision device, for example of the radar, optical, laser and / or infrared type, the operation of which for identifying the presence of the object and / or its distance from the vehicle 7b could be known per se, whereby it is not described in further detail. Conveniently, the transduction apparatus 26 can further comprise blowing devices configured to blow compressed air onto the vision device, in particular of the optical or infrared type, for removing dust deposited on the vision device.

[0121] Preferably, the transduction apparatus 26 is carried by the vehicle 7b, more specifically at a lower edge of the frame 15, more precisely above one of the brackets 18.

[0122] The control unit 13 is coupled to the transduction apparatus 26 and therefore receives from it an indication of the presence of the object and / or its distance. Furthermore, preferably, the control unit 13 receives from the transduction apparatus 26 the position and / or orientation (namely a pose) of the object relative to the vehicle 7b (i.e. to its fixed reference system) as well as, alternatively or additionally, with respect to the absolute reference system, namely the absolute position and / or orientation.

[0123] The control unit 13 is configured to reprocess, namely modify or correct, the cleaning target trajectory or more generally the target trajectory based on the indication received from the transduction apparatus 26, for example to perform the approach to the object, namely introduce the approach to the object in the target trajectory.

[0124] Furthermore, for example, if an object obstructs the target trajectory, for example if the presence of the object is identified by the transduction apparatus 26 along the target trajectory, the control unit 13 would reprocess the target trajectory to avoid and / or evade the object, for example by performing a collision avoidance algorithm, which could be of a type known per se and therefore not described in further detail.

[0125] Herein, the reprocessed target trajectory could provide, for example, for the distance between the object and the vehicle 7b to be always greater than a threshold, in particular greater than or equal to the threshold corresponding to the aforementioned sufficient maximum distance.

[0126] Preferably, the vehicle 7b does not necessarily perform only cleaning missions, but could also carry out other types of missions.

[0127] An example of a mission distinct from a cleaning mission could be a recharging mission of the vehicle 7b. In the recharging mission, the corresponding target trajectory comprises reaching a recharging device or column 27 of the warehouse 1, for example positioned in a corresponding zone 6 of the portion lb. The recharging column 27 comprises a coupling interface 28 adapted to couple to a recharging socket or inlet 29 of the vehicle 7b or more in general of the vehicle 7. The coupling between the coupling interface 28 and the recharging inlet 29 can occur, for example, via the contact between conductive elements respectively carried by the coupling interface 28 and the recharging inlet 29, or can also occur without contact, for example via a magnetic coupling between the coupling interface 28 and the recharging inlet 29 which would thereby form an induction recharging system.

[0128] The recharging mission or the corresponding target trajectory preferably also comprises the coupling between the coupling interface 28 and the recharging socket 29. In fact, the recharging mission comprises reaching a recharging position, in which the coupling interface 28 couples to the recharging socket 29.

[0129] In the recharging position, the vehicle 7 and the recharging column 27 form a recharging assembly.

[0130] The recharging socket 29 is electrically connected to the rechargeable electric energy storage device 25.

[0131] The recharging column 27 is configured to recharge the rechargeable electric energy storage device 25 when the coupling interface 28 and the recharging socket 29 are coupled to each other.

[0132] The vehicle 7 or 7b can undertake the recharging mission under the command of the control unit 13 for example with a predetermined frequency (in particular at the end of a day), or at the end of the carrying out of one or more successive or consecutive missions, for example cleaning missions. Furthermore, the vehicle 7 or 7b preferably undertakes the recharging mission under the command of the control unit 13 when the level of electric energy of the rechargeable electric energy storage device 25 falls below a minimum charge threshold. In this case, the vehicle 7 or 7b can interrupt a previous mission to perform the recharging mission, to then resume from the point of the target trajectory of the previous mission in which the interruption occurred. The control unit 13 can be configured to determine the level of electric energy of the rechargeable electric energy storage device 25 and thus when this level falls below the minimum charge threshold, so as to be able to command the performance of the recharging mission when this occurs.

[0133] Once again, for clarity, each of the specific aspects generally described in the preceding paragraphs of this description for the generic cleaning vehicle 7b is not to be understood as necessarily applied to all possible cleaning vehicles 7b of the fleet of vehicles 7, but could be individually applied in a selective manner, depending on the case, to one or more of the cleaning vehicles 7b of the fleet, without any loss of generality. In the following, some specific vehicles that could form part of the fleet of vehicles 7 will be described in greater detail for an exemplifying and not necessarily limiting purpose.

[0134] According to an embodiment, one of the vehicles 7b is a sweeping vehicle 30. In particular, the cleaning mission of the sweeping vehicle 30 comprises sucking and / or sweeping solid waste.

[0135] The cleaning device of the sweeping vehicle 30 comprises a suction device 31 (partially illustrated) for sucking solid waste, more in particular in the form of dust, granules or debris. The suction device 31 forms part of the above-mentioned suction assembly of the cleaning device.

[0136] In detail, the suction device 31 comprises a ventilation assembly or vacuum pump 32 (schematically illustrated) configured to generate a vacuum at a suction channel 33 of the vehicle 30, such that an air flow, which is suitable or configured to suck the waste, is generated through the suction channel 33 from or through one or more suction ports 34 of the suction channel 33 at at least one waste transit port 35 of the suction channel 33. More in particular, the suction channel 33 extends with a first portion that ends at the waste transit port 35 and a second portion that continues higher, with reference to the direction of the air flow, up to at least one or more outlet ports 35b (Figure 4) for letting out the air flow. The first and second portions could also extend immediately after each other, namely according to an arrangement in series. In practice, the air flow travels through the suction channel 33 from the suction ports 34 up to the air outlet ports 35b with an intermediate transit near the waste transit port 35. Herein, most of the waste transported by the air flow starting from the suction ports 34 falls through the waste transit port 35, whereas the air flow continues its path up to the outlet ports 35b transporting a smaller part of residues that are lighter than the waste, for example dust residues. For this reason, the suction channel 33 can comprise one or more filters downstream of the waste transit port 35 and upstream of the air outlet ports 35b with reference to the direction of the air flow.

[0137] Each suction port 34 is arranged to result facing towards the outside of the sweeping vehicle 30; more in particular, a suction port 34 faces the ground, namely specifically the floor 2 of the warehouse 1.

[0138] The sweeping vehicle 30 has a container 36 that communicates with the waste transit port 35 to accommodate the sucked waste, in particular through the suction channel 33, more in particular via the air flow.

[0139] Alternatively or additionally, the cleaning device of the vehicle 30 comprises a plurality of brushes 37, 38, in particular movable, more in particular rotating, for sweeping the solid waste.

[0140] In detail, the brushes 37, 38 are arranged to cooperate with the ground, i.e. specifically with the floor 2, so as to sweep the solid waste. The brushes 37, 38 form part of the above-mentioned sweeping assembly of the cleaning device.

[0141] Preferably, the brushes 37, 38 are arranged to convey the swept solid waste at the suction port 34, i.e. under the suction port 34. In greater detail, the brushes 37 convey the swept waste at the brush 38, which is arranged at the suction port 34 to lift the solid waste from the floor 2 and facilitate its suction via the suction device 31.

[0142] In particular, the brushes 37, 38 are carried by the frame 15 of the vehicle 30 in a position underlying the frame 15.

[0143] The brushes 37 are specifically carried by the frame 15 in a rotating manner with respect to corresponding vertical axes F. More specifically, one or more of the brushes 37 comprises a plurality of bristles 37b arranged according to a conical or truncated cone configuration about the relative axis F with an amplitude increasing axially towards the ground.

[0144] The brush 38 is carried by the frame 15 in a rotating manner with respect to a horizontal axis G or parallel to the axis C. More specifically, the brush 38 comprises a substantially cylindrical roller 38a about the axis G and a plurality of bristles 38b extending radially with respect to the axis G in a protruding manner towards the outside of the roller 38a. In particular, the bristles 38b draw a plurality of substantially wedge- shaped profiles on the side surface of the roller 38a.

[0145] Preferably, the vehicle 30 comprises an emptying mechanism or device 40 configured or controllable to empty the container 36 on the outside of the vehicle 30.

[0146] The container 36 is carried by the frame 15 in a movable manner via the mechanism 40.

[0147] In greater detail, the mechanism 40 is configured to move the container 36, in particular maintaining its orientation fixed in space, at least between a retracted configuration (Figure 5) and an extracted configuration (Figure 6), in which it is less and more spaced away from the frame 15, respectively.

[0148] Alternatively or additionally, the mechanism 40 is conveniently configured to vary the orientation in the space of the container 36, namely to tilt the container 36, in particular between an upright (Figures 5, 6) and an upside down (Figures 7, 8) orientation, respectively adapted to hold the waste on a bottom 36a of the container 36 and spill the waste out of the container 36. Therefore, the container has an opening 36b preferably opposite the bottom, such to be above and below the bottom 36a respectively with the upright and upside down orientation.

[0149] In particular, the mechanism 40 has at least two degrees of freedom and more in particular exactly two degrees of freedom, specifically defined by two rotation angles about respective axes H, K parallel to each other and preferably horizontal.

[0150] According to the illustrated embodiment, the mechanism 40 has at least one arm 41 and more in particular two arms 41 parallel to each other and hinged on one side to the frame 15 about the axis H and on the opposite side to the container 36 about the axis K (or more precisely the container 36 is hinged to the arms 41). Said sides correspond to opposite ends of the arms 41 according to axes R, along which the arms 41 respectively extend between their opposite ends. The axes R are parallel to each other and orthogonal to both the axes H, K. In particular, the arms 41 are hinged to the container 36, more in particular to opposite ends of the container 36 according to the axis K. Only one of the two arms 41 (in particular moved in a central position with respect to the container 36) is sufficient for the operation of the mechanism 40, whereby the second arm 41 could be absent.

[0151] The two degrees of freedom are therefore defined by a first degree of freedom, in turn defined by the rotation angle of the arms 41 about the axis H with respect to the frame 15, and by a second degree of freedom, in turn defined by the rotation angle of the container 36 about the axis K with respect to the arms 41.

[0152] The mechanism 40 is configured to move the container 36 between the extracted and retracted configurations with the first degree of freedom, namely with the rotation (rotation angle) of the arms 41 with respect to the frame 15.

[0153] Alternatively or additionally, the mechanism 40 is configured to vary the orientation of the container 36 between the upright and upside down configurations with the second degree of freedom, namely with the rotation (rotation angle) of the container 36 with respect to the arms 41. The two degrees of freedom are not both necessary according to some embodiments not illustrated, whereby the mechanism 40 could have, for example, only the first degree of freedom or only the second degree of freedom. In the latter case, (only the second degree of freedom), the container 36 could be hinged to the frame 15 and rotate about the axis K fixed to the frame 15.

[0154] The mechanism 40 further comprises respective actuators 40a, 40b for controlling the degrees of freedom of the mechanism 40; more precisely, the actuators 40a, 40b are configured to control the movements respectively associated with the degrees of freedom, whereby to drive in particular the container 36 into one of the retracted configuration and the extracted configuration, or into one of the upright configuration and the upside down configuration. The actuators 40a, 40b of the mechanism 40 are controllable via the control unit 13 of the vehicle 30.

[0155] More in detail, preferably, the mechanism 40 comprises two slides 41a, 41b respectively coupled to the actuators 40a, 40b (in particular of the linear type) and constrained in a sliding manner along respective straight directions by corresponding guides 42a, 42b of the mechanism 40, respectively carried by one of the arms 41 and by the frame 15 in a fixed or integral manner. The actuators 40a, 40b are respectively configured to translate the slides 41a, 41b along the relative straight directions. Furthermore, in particular, the slides 41a, 41b are respectively coupled to the container 36 and to the arms 41 via corresponding crank mechanisms 43a, 43b which are configured to transform the translations of the slides 41a, 41b into corresponding rotations of the container 36 and the arms 41 about the respective axes K, H. The crank mechanisms 43a, 43b could be of a type known per se, whereby they are not described in further detail.

[0156] The control unit 13 is configured to selectively command, in particular via the actuators of the mechanism 40 or more in general via a generic control of the latter, the arrangement of the container 36 in one of the retracted configuration and the extracted configuration, and / or in one of the upright configuration and the upside down configuration.

[0157] The mechanism 40, just as the actuators 40a, 40b could be different with respect to what described and illustrated in detail. Just as an example, without loss of generality, the actuators 40a, 40b could have been two motors (for example of the rotary type) configured to directly drive into rotation the arms 41 about the axis H and the container 36 about the axis K, respectively.

[0158] In general, the actuators 40a, 40b of the mechanism 40 could be electric actuators.

[0159] The container 36 preferably comprises a wall 39 with a surface 39a facing towards the outside of the vehicle 30. More in detail, in the retracted configuration (and in particular in the upright configuration), the surface 39a is arranged flush with an outer surface 39b of the frame 15.

[0160] In order to receive the waste via the suction device 31, in particular, the container 36 must be in the retracted configuration and specifically in the upright configuration.

[0161] The vehicle 30 can perform a discharging mission of the waste contained in the container 36. The discharging mission or the corresponding target trajectory comprises reaching a discharging station 42 arranged in the warehouse 1.

[0162] The discharging station 42 comprises a bin 43 and a platform 44 (for example defined by an area of the floor 2) in front of the bin 43. More precisely, the discharging mission or the corresponding target traj ectory comprises reaching the platform 44, namely in detail a suitable discharging position for discharging the waste contained in the container 36.

[0163] In the discharging position, the vehicle 30 and the discharging station 42 form a discharging assembly.

[0164] At the end of the discharging mission, namely when the vehicle 30 is located on the platform 44, the control unit 13 is configured to control the mechanism 40 to empty the container 36 into the bin 43.

[0165] More precisely, the control unit 13 is configured to command via the mechanism 40 the arrangement of the container 36 in the extracted configuration, in particular on top of the bin 43, and preferably also in the upside down configuration, in particular after reaching the extracted configuration, so that the waste, if present, can be tipped into the bin 43. At this point, the control unit 13 can preferably be additionally configured to command via the mechanism 40 the return of the container 36 to the upright configuration and the retracted configuration, so that the vehicle 30 is ready to perform other missions.

[0166] Clearly, more in general, the control unit 13 can be configured to control the mechanism 40 in the manner described in the previous paragraph regardless of the presence of the bin 34 and also of the presence of waste in the container 36, i.e. regardless of the fact that the vehicle 30 is specifically performing the discharging mission, i.e. for any operating condition of the vehicle 30.

[0167] The vehicle 30 can undertake the discharging mission under the command of the control unit 13 for example with a predetermined frequency (in particular at the end of a day), or at the end of the performance of one or more successive or consecutive missions, for example cleaning missions. Furthermore, the vehicle 30 preferably undertakes the discharging mission under the command of the control unit 13 when the fill level of the container 36 exceeds a maximum fill threshold. In this case, the vehicle 30 can interrupt a previous mission to perform the discharging mission, to then resume from the point of the target trajectory of the previous mission where the interruption occurred. The vehicle 30 preferably comprises a sensor (not illustrated) configured to determine the fill level of the container 36; the control unit 13 extracts the fill level from the sensor to determine when the fill level exceeds the maximum fill threshold and then commands the performance of the discharging mission.

[0168] Preferably, the bin 43 comprises a towing interface 45 (schematically illustrated). A towing vehicle of the fleet of vehicles 7, for example the vehicle 7a, any vehicle 7b, or the vehicle 30, could comprise a towing device 46 (schematically illustrated) configured to tow the bin 43 via coupling to the towing interface 45. The towing device 46 is also configured to release the coupling to the towing interface 45, thereby freeing the bin 43. In this manner, the towing vehicle is configured to transport the bin 43 in front of another platform 44 to reform the discharging station 42 in a further position with respect to the original one, in particular after towing the bin 43 and before releasing the bin 43 in front of the other platform 44 via the towing device 46.

[0169] According to an embodiment, one of the vehicles 7b is a washing or squeegee vehicle 50. The cleaning mission of the washing vehicle 50 comprises in particular sucking and / or sweeping liquid waste.

[0170] The cleaning device of the washing vehicle 50 comprises a suction device 51 (partially illustrated) for sucking liquid waste, possibly mixed with solid waste, more in particular in the form of dust, granules or debris. The suction device 51 forms part of the above-mentioned suction assembly of the cleaning device.

[0171] The suction device 51 comprises a suction assembly or vacuum pump 52 (schematically illustrated) configured to generate a vacuum at a suction channel 53 (partially illustrated in a schematic manner) of the vehicle 50, such that an air flow or more generally a fluid flow suitable or configured to suck the waste is generated through the suction channel 53 from or through one or more suction ports 54 of the suction channel 53 at at least one discharging port 55 of the suction channel 53.

[0172] Each suction port 54 is arranged to result facing towards the outside of the washing vehicle 50; more in particular, a suction port 54 faces the ground, namely specifically the floor 2 of the warehouse 1.

[0173] The washing vehicle 50 has a tank 56 that communicates with the discharging port 55, for example via a non-return valve (not illustrated), to accommodate the sucked waste, in particular through the suction channel 53, more in particular via the fluid flow.

[0174] The suction device 51 could comprise one or more filters, not illustrated, at the suction channel 53 for filtering the waste upstream of the discharging port 55 with reference to the direction of the fluid flow generated by the suction assembly 52.

[0175] Alternatively or additionally, the cleaning device of the vehicle 50 comprises one or more brushes 57, in particular movable, more in particular rotating, for brushing the floor 2. The brushes 57 are arranged to cooperate with the ground, i.e. specifically with the floor 2, so as to clean or brush the floor 2.

[0176] Alternatively or additionally, the cleaning device of the vehicle 50 comprises a squeegee 58, more in particular translating, to move the liquid waste on the floor 2. The squeegee 58 is arranged to scrape in contact with the ground, i.e. specifically with the floor 2, so as to squeegee the floor 2.

[0177] The brushes 57 and / or the squeegee 58 form part of the above-mentioned sweeping assembly of the cleaning device.

[0178] Therefore, the squeegee 58 anyway falls within the generic meaning of brush or sweeping means.

[0179] Preferably, the brushes 57 and / or the squeegee 58 are arranged to convey the liquid waste at the suction port 54, i.e. under the suction port 54. In greater detail, the suction port 54 is arranged at the squeegee 58.

[0180] In particular, the brushes 57 and / or the squeegee 58 are carried by the frame 15 of the vehicle 50 in a position underlying the frame 15.

[0181] The brushes 57 are specifically carried by the frame 15 in a rotating manner with respect to corresponding vertical axes M. More specifically, one or more of the brushes 57 comprises a disc, for example defined by an elastic or deformable (in particular elastomeric) material, having a face 57b facing towards the ground or the floor 2, for rubbing against the ground or the floor 2. Preferably the face 57b has a substantially circular crown shape, whereby the disc has a hole or a recess 57c at the center of the disc.

[0182] The squeegee 58 is carried by the frame in a fixed manner or more preferably translating with respect to the frame 15 according to a substantially vertical axis or with at least one vertical component. In other words, the squeegee 58 is selectively raisable and lowerable between a lowered position to come into contact with the ground and a raised position with respect to the lowered position.

[0183] Preferably, the cleaning device of the vehicle 50 comprises a dispensing assembly 59 configured to dispense or spread a detergent fluid onto the ground or the floor 2. The detergent fluid could be water or a solution of water and soap, or other detergent compound.

[0184] The dispensing assembly 59 comprises, in detail, a plurality of dispensing orifices or nozzles 59b arranged to face towards the floor 2 to dispense the detergent fluid onto the ground or the floor 2.

[0185] Independently, the dispensing assembly 59 comprises a tank 59c for containing the detergent fluid.

[0186] The tank 59c communicates with the dispensing orifices 59b to supply them with the detergent fluid, in particular via a supply circuit 59d (schematically illustrated) configured to supply the dispensing orifices 59b with the detergent fluid contained in the tank 59c.

[0187] Preferably, the dispensing orifices 59b are arranged at the brushes 57, in particular at the hole or recess 57c.

[0188] The vehicle 50 can perform a restorative mission to discharge the waste contained in the tank 56 and / or reload the tank 59c with the detergent fluid.

[0189] The restorative mission or the target trajectory comprises reaching a restorative station 60 arranged in the warehouse 1. More precisely, the restorative mission or the target trajectory comprises reaching an interfacing position with respect to the restorative station 60, in which the vehicle 50 interfaces with the restorative station 60.

[0190] In the interfacing position, the vehicle 50 and the restorative station 60 form a restorative assembly.

[0191] In detail, the restorative station 60 comprises two tanks or tank assemblies 61, 62 respectively for containing the waste discharged from the vehicle 50 and the detergent liquid for reloading the tank 59c. The tank assemblies 61, 62 are independent of each other, whereby each of them could be absent.

[0192] For example, the tank assembly 62 comprises a tank 62a for a base liquid, for example water, and a separate tank 62b for a detergent, for example soap, which can be mixed with the base liquid to form the detergent liquid. Furthermore, the tank assembly 62 comprises a dosing device, for example of known type and not illustrated, configured to provide the detergent liquid defined by a mixture of the base liquid and the detergent picked up respectively from the tanks 62a, 62b. Alternatively, the tanks 62a, 62b could have been joined in one single tank already containing the mixture, namely the detergent liquid. In the latter case, the single tank could define the tank assembly 62.

[0193] Furthermore, independently, the restorative station 60 and the vehicle 50 comprise respective pipelines 63, 64 configured to couple to each other, in particular by inserting one inside the other, in the interfacing position, so that the pipelines 63, 64 communicate with each other.

[0194] The pipelines 63, 64 are respectively connected to the tank assembly 61 and the tank 56. In this manner, in the interfacing position, the waste contained in the tank 56 can reach the tank assembly or tank 61, for example via a suction device 67 (possibly of known type and not described in detail) of the restorative station 60.

[0195] Alternatively or additionally, the restorative station 60 and the vehicle 50 comprise respective pipelines 65, 66, configured to couple to each other, in particular by inserting one inside the other, in the interfacing position, so that the pipelines 65, 66 communicate with each other.

[0196] The pipelines 65, 66 are respectively connected to the tank assembly 62 (more in particular to the dosing device for receiving the detergent liquid), and to the tank 59c. In this manner, in the interfacing position, the detergent liquid of the tank assembly 62 can be supplied to the tank 59c, for example via a pumping device 69 (possibly of known type and not described in detail) forming part of the restorative station 60 and configured to supply the detergent fluid to the tank assembly 62 (for example provided by the dosing device) to the tank 59c. Preferably, the pipeline 66 extends from a first port 70 defining an inlet of the tank 59c to end with a second port 71, which is coupled to the pipeline 65 in the interfacing position, so that the pipeline 66 can receive the detergent fluid from the pipeline 65, and whereby specifically the pipeline 65 is inserted through the second port 71.

[0197] In particular, the vehicle 50 comprises a membrane 72 being elastic and flexible arranged at the port 71 so as to occlude the port 71 and having a portion 72a fixed to the frame 15, as well as a labile portion 72b and / or having at least one free edge 72c, namely unconstrained from the frame 15 or dangling with respect to the frame 15.

[0198] In the interfacing position, the pipeline 65 is arranged through the port 71, namely is more precisely inserted in the pipeline 66 through the port 71, whereby it penetrates the membrane 72 bending the portion 72b towards the inside of the pipeline 66 and thus moving more in particular the free edge 72c, which (being elastic due to the elasticity of the membrane 72) remains adherent to the outside of the pipeline 65. In this manner, the membrane 72 with its portion 72b define or act as a seal to ensure the fluid tightness of the coupling between the pipelines 65, 66 or, more precisely, of the insertion of the pipeline 65 in the pipeline 66.

[0199] Preferably, the pipeline 65 comprises a more external pipe 73, which in particular comes into contact with the membrane 72 or penetrates the membrane 72 in the interfacing position, and a pipe 74 connected to the tank assembly 62 to supply the detergent liquid to the pipeline 66. The pipe 74 extends inside the pipe 73 until it ends with an end 74a passing through a hole 75 of the pipe 73, thereby exiting the pipe 73 and opening into the pipeline 66 in the interfacing position.

[0200] More in particular, the end 74a ends, in turn, with an opening 74b facing downwards, namely exits the pipe 73 substantially vertically (namely according to a direction having a vertical component) downwards. Specifically, the pipe 73 extends according to a horizontal direction Q.

[0201] In the interfacing position, conveniently, the pipeline 65 (and thus the pipes 73, 74), or more precisely its end portion coupled to the pipeline 66 or inserted in the pipeline 66, is arranged above the tank 59c, so that the detergent fluid supplied to the pipeline 66 via the pipeline 65 can fall by gravity into the tank 59c via the pipeline 66.

[0202] Preferably, the vehicle 50 comprises a further membrane 76 being elastic and flexible arranged at the port 70 (inside the pipeline 66) so as to occlude the port 70 and having a fixed portion 76a or fixed with respect to the pipeline 66, as well as a labile portion 76b and / or having at least one free end 76c, namely unconstrained from the pipeline 66 or dangling with respect to the pipeline 66.

[0203] The portion 76b is configured to be moved by the detergent fluid supplied to the tank 59c via the pipeline 66, so that the detergent fluid can pass through the port 70 freed by the movement of the portion 76b.

[0204] Furthermore, preferably, the pipeline 66 comprises a wall 79 arranged at the port 70, so as to delimit the port 70 at the top.

[0205] The portion 76a hangs on the wall 79 on a point of the wall 79, so that the portion 76b is arranged by effect of gravity at the port 70 so as to occupy the port 70.

[0206] When the detergent fluid passes through the port 70, the detergent fluid bends the portion 72b towards the tank 59c, thereby passing through the port 70 and falling into the tank 59c by effect of gravity.

[0207] When the detergent fluid has finished passing through the port 70, the portion 72b returns by effect of the elasticity of the membrane 76 to a neutral or rest position, in which it occupies the port 70 so as to create an obstacle to a possible backflow of the detergent fluid from the tank 59c towards the pipeline 66. Thereby, the membrane 76 defines or acts as a non-return valve.

[0208] Preferably, each component of the restorative station 60 (e.g. the tank assemblies 61, 62 and the pipelines 63, 65, in a non-exhaustive manner) or the restorative station 60 comprises, as a whole, a towing interface 78 (schematically illustrated). A towing vehicle of the fleet of vehicles 7, for example the vehicle 7a, any vehicle 7b, the vehicle 30, or the vehicle 50 could comprise a towing device 77 (schematically illustrated) configured to tow the component or the restorative station 60 as a whole via coupling to the towing interface 78. The towing device 77 is also configured to release the coupling to the towing interface 78, thereby freeing the component or the restorative station 60. In this manner, the towing vehicle is configured to transport the component or the restorative station 60 to a further position with respect to the original one, in particular after towing the component or the restorative station and before releasing the component or the restorative station 60.

[0209] According to an embodiment, one of the vehicles 7b is a sanitizing vehicle 80. The cleaning mission of the sanitizing vehicle 80 comprises in particular sanitizing the floor 2 and / or an object.

[0210] The cleaning device of the sanitizing vehicle 80 comprises one or more dispensers 81 configured to dispense the sanitizing fluid onto the floor 2 and / or an object, in particular in the warehouse 1, for example arranged on the floor 2. Herein, the dispensers 81 form part of the above-mentioned sanitizing assembly of the cleaning device. Preferably, the dispensers 81 are connected to a supply circuit (not illustrated) for supplying the sanitizing fluid to the dispensers 81; the supply circuit is carried by the vehicle 80 and comprises a tank (not illustrated) for containing the sanitizing fluid. In a manner similar to the vehicle 50, the sanitizing vehicle 80 can reach a restorative station (not illustrated) in an interfacing position, in which the tank is connected to a source of the sanitizing fluid to be supplied by the latter with the sanitizing fluid.

[0211] Alternatively or additionally, the cleaning device of the sanitizing vehicle 80 could comprise a disinfecting lamp 82 (Figure 14) configured to disinfect the warehouse 1, the floor 2, and / or an object, in particular in the warehouse 1, for example arranged on the floor 2, by emitting a disinfecting light, for example comprising one or more frequencies in the ultraviolet range. The disinfecting lamp 82 could be considered part of the sanitizing assembly of the cleaning device.

[0212] The disinfecting lamp 82, just as one or more of the dispensers 81 could be fixed to the frame 15, or carried by a mechanism 83, for example comprising a robotic manipulator or robot, in particular of the anthropomorphic type, in turn carried by the frame 15 in a movable manner with respect to the frame 15. The disinfecting lamp 82 or one or more of the dispensers 81 could for example define an end-effector of the robot.

[0213] According to an embodiment, one of the vehicles 7b is a pick up vehicle 90, wherein the cleaning device comprises a robotic manipulator 91 or robot, in particular of the anthropomorphic type (for example with 3 or more axes or degrees of freedom), carried by the frame 15 in a movable manner with respect to the frame 15 and configured to pick up and place an object (in particular in the warehouse 1, for example arranged on the floor 2), preferably not cleanable or not suitable to be cleaned via one or both of the vehicles 30, 50, or their cleaning devices, or more generally via the suction assembly and / or the sweeping assembly, as having shape and dimensions such to be unsuitable for suction via the suction assembly or the suction devices 31, 51 and / or potentially suitable for damaging the sweeping assembly or the brushes 37, 38, 57 or the squeegee 58. Preferably, the vehicle 90 can comprise a container 96 such as the container 36 and, more preferably, an emptying mechanism or device 97 such as the mechanism 40 configured or controllable to empty the container 96 on the outside of the vehicle 90, for example into the bin 43.

[0214] In particular, the robotic manipulator 91 can be configured to put the picked-up object in the container 96 of the vehicle 90. In this case, preferably, the object put in the container 96 may be thrown away, for example in the bin 43, by emptying the container 96 via the emptying mechanism 97.

[0215] Alternatively or additionally, the robotic manipulator 91 can also retain the picked- up object, for example because too bulky to be positioned in the container 96, to then throw the picked-up object away directly, for example in the bin 43.

[0216] The robotic manipulator 91 could even pick up the object put in the container 96 and throw it away directly, for example in the bin 43. In the latter case, the emptying device 97 could be unnecessary and thus could be absent or defined directly by the robotic manipulator 91.

[0217] The cleaning mission of the vehicle 90 can more precisely be a picking up mission comprising picking up the object.

[0218] For example, the vehicle 90 could perform a discharging mission similar to that of the vehicle 30, namely comprising reaching the discharging station 42. Herein, the vehicle 90 could be configured to throw away the picked-up object in the bin 43 from the platform 44 of the discharging station 42. As already mentioned above, the picked-up object to be thrown away could be arranged in the container 96 or picked up directly from the warehouse 1 and held by the manipulator 91, or still picked up by the manipulator 91 from the container 96.

[0219] In order to carry out its function, the robotic manipulator 91 could comprise, for example as end-effector, a gripping device 92 (for example of a type known per se) configured to mechanically grab the object, and / or a releasable attraction device 93 configured to attract the object, for example by magnetic attraction and / or by a suction effect. For example, the attraction device 93 could comprise a suction cup or a magnet (operating by magnetic attraction, i.e. for example electrically powerable to exert a magnetic attraction on the object) not illustrated. The suction cup is configured to generate a vacuum (for example due to its mechanical characteristics or via a vacuum pump) in the proximity of the object, so as to attract the object onto itself.

[0220] The vehicle 90 could comprise the transduction apparatus 26, herein further configured to categorize or classify the object into a category of a predetermined set of categories, for example one of the categories in the following exemplifying list:

[0221] - liquid,

[0222] - compact solid with a maximum dimension greater than or equal to a dimensional threshold,

[0223] - particulate solid, for example forming part of a mass of bulk material and / or with a maximum dimension smaller than the dimensional threshold.

[0224] For clarity, the predetermined set of categories does not necessarily comprise all possible categories, whereby some categories may not belong to the set, although being recognized by the transduction apparatus 26.

[0225] More in general, the categories of the set are distinguished from one another by a physical state (e.g. solid, liquid) and / or an extension of a dimension of the object classified therein (in particular, in relation to the dimensional threshold).

[0226] For example, the compact solid category could be further divided into the rigid compact solid (pieces of wood, and the like) and flexible compact solid (ribbons, ropes, and the like) categories.

[0227] Furthermore, independently, the particulate solid category could be further divided into particulate solid with a dimension greater than or equal to a dust threshold, for example containing objects such as glass shards, stones, agglomerates with significant dimensions, and particulate solid with a maximum dimension smaller than the dust threshold, for example containing dust.

[0228] In this manner, i.e. via the categorization of the transduction apparatus 26, the control unit 13 of the vehicle 90 (coupled to the transduction apparatus 26) can extract the category of the object from the transduction apparatus 26 and consequently determine the most suitable device between the gripping device 92 and the attraction device 93 for picking up the object, as well as for commanding the robotic manipulator 91 and / or the device determined to pick up the object.

[0229] For example, if the object falls within the liquid category, the control unit 13 could determine that the vehicle 90 is unsuitable for picking up the object.

[0230] Furthermore, for example, if the object falls within the compact solid category, the control unit 13 could proceed to command the robotic manipulator 91 and / or the gripping device 92 to pick up the object, in particular if the category were more precisely that of the rigid compact solid, whereas it could proceed to command the robotic manipulator 91 and / or the attraction device 93 if the category were more precisely that of the flexible compact solid.

[0231] Furthermore, for example, if the object falls within the particulate solid category, the control unit 13 could proceed to command the robotic manipulator 91 and / or the attraction device 93 to pick up the object or the mass of bulk material to which it belongs.

[0232] For clarity, the expression “categorize” is not strictly limited to the actual carrying out of an action of associating the object with a predetermined category, but also includes the meaning of verifying that the properties of the object fall within the parameters that characterize a category. In fact, even the sole relationship between properties and parameters can define the categorization into a category.

[0233] Preferably, the fleet of vehicles 7 can comprise a search vehicle 7c, which comprises the transduction apparatus 26, further configured to categorize (similar to what set forth for the vehicle 90) and optionally devoid of cleaning devices, for example those described in this description.

[0234] The search vehicle 7c is controllable or configured to perform a searching mission. The searching mission or the corresponding target trajectory comprises searching an area (in particular continuous, i.e. devoid of discontinuities or holes in the middle of the area) of the floor 2 belonging (or pertinent) to or defined by one of the portion lb, the zone 6, and the warehouse unit 6b (for example defined by a corridor 4).

[0235] Furthermore, the searching mission comprises identifying, via the transduction apparatus 26, the presence of one or more objects along the target trajectory, categorizing the object into a category, for example as one of those already listed in the foregoing, as well as more specifically determining the position and / or orientation of the object.

[0236] The control unit 13 of the vehicle 7c is configured to extract the category and for example communicate it, in particular together with the position and / or orientation of the object, to a further management control unit ECU (optionally carried by the same vehicle 7c, or coinciding with the control unit 13 of another vehicle 7 or 7b, or remote with respect to the vehicles 7 of the fleet), which in turn could determine the most suitable vehicle 7b of the vehicles 30, 50, 90 to clean the object (for example respectively if it falls within the particulate solid category with the maximum dimension smaller than the dust threshold, liquid, and in the other mentioned categories, respectively) and command the relative control unit 13 to perform the cleaning or picking up mission which comprises cleaning the categorized object.

[0237] Conveniently, the transduction apparatus 26 with the function of categorizing the objects can be applied to any vehicle already described of the fleet of vehicles 7, without loss of generality, as can the communication of the category by the control unit 13 to the control unit ECU.

[0238] Preferably, the warehouse 1 further comprises a cleaning station 100 for cleaning the vehicles 7b, for example at a relative zone 6. Therefore, the cleaning station 100 is configured to be accessible to the vehicles 7b, in particular via their driving members of the propulsion assembly 10.

[0239] In greater detail, the cleaning station 100 occupies an area, in particular of the floor 2, extending longitudinally along a straight axis U.

[0240] Preferably, the cleaning station 100 comprises a compartment carried by the occupied area and closed at the top by a grid 101 adapted to allow a transit of the vehicles 7b thereon.

[0241] Furthermore, in order to enable or facilitate the access of the vehicles 7b to the cleaning station 100, the latter comprises a ramp 102 extending uphill along the axis U between an edge in contact or communicating with the occupied area and an edge in contact or communicating with the grid 101. Preferably, the cleaning station 100 comprises a second ramp 102 opposite along the axis U the first ramp 102 and arranged with the grid 101 between the ramps 102 according to the axis U, so that the ramps respectively allow the ascent of the vehicles 7b on the grid 101 via the first ramp 102 and the following descent from the grid 101 via the second ramp 102 advancing longitudinally along the axis U.

[0242] The cleaning station 100 comprises one or more cleaning apparatuses configured to clean the vehicles 7b and more in particular their driving members, specifically the wheels 14 and the castors 17, and / or their cleaning devices. Preferably, the cleaning apparatuses are arranged at least in part in the compartment under the grid 101 and are for example configured to cooperate with the vehicles 7b transiting on the grid 101.

[0243] In particular, one of the cleaning apparatuses of the cleaning station 100 comprises one or more brushes 104 arranged in the compartment so as to emerge with respect to the grid 101. The brushes 104 preferably rotate about relative axes V, in particular orthogonal to the axis U and horizontal. Specifically, the cleaning station 100 comprises motor devices 104b, for example electric motor devices, configured to drive into rotation the brushes 104. Alternatively, the brushes 104 could have been translating along the axis U or transversely with respect to the axis U.

[0244] The brushes 104 are configured to brush the vehicles 7b from below.

[0245] Alternatively or additionally, the cleaning station 100 comprises a mat 105 arranged in the compartment and provided with scraping bristles, in turn arranged so as to emerge with respect to the grid 101. The scraping bristles are configured to rub from below with the vehicles 7b moving on the grid 101 along the axis U, so as to scrape the dirt in excess from the vehicles 7b.

[0246] The mat 105 can be arranged upstream or downstream with respect to the brushes 104 according to the axis U.

[0247] Alternatively or additionally, the cleaning apparatuses of the cleaning station 100 comprise a hydraulic circuit 106, for example extending at least in part in the compartment, provided with spray nozzles 107 configured to spray or spread liquid, for example water or deterging solutions, in particular on top of the grid 101 and / or on the brushes 104 and / or the mat 105, so that the liquid can reach the vehicles 7b, for example moving on the grid 101 along the axis U. The circuit 106 can further comprise a tank 108 for containing the liquid and a pump 109 or pump device configured to supply the liquid of the tank 108 to the spray nozzles 107.

[0248] The spray nozzles 107 could be arranged at the brushes 104 and / or the mat 105.

[0249] Each of the vehicles 7b can perform a maintenance mission; the maintenance mission or the corresponding target trajectory comprises reaching or accessing the cleaning station 100 and more in particular travelling along the grid 101, for example longitudinally along the axis U. The target trajectory can also comprise (in particular on the grid 101) rotations of the vehicle 7b on itself about a vertical axis, or zig-zag movements with respect to the axis U, in particular at the brushes 104 and / or the mat 105.

[0250] The warehouse 1 conveniently comprises a management apparatus comprising the fleet of vehicles 7 or even only the vehicles 7b of the fleet, as well as the control unit ECU configured to communicate with each control unit 13. The previously described interaction, specifically, between the control unit ECU and the vehicle 7c is exemplifying but not necessary, whereby it could also be absent, as could the vehicle 7c.

[0251] The management apparatus can further comprise one or more of the cleaning station 100, the discharging station 43, the restorative station 60, the recharging device 27.

[0252] The control unit ECU is configured to command each control unit 13 to make the relative vehicle 7 perform a mission, for example a cleaning mission, a discharging mission, and the other missions already described, as well as produce at least one function among aborting, pausing, modifying, and making the mission resume.

[0253] Thereby, the control unit ECU is configured to command the performance of missions of the vehicles 7, in particular via the relative control units 13, more in particular in real time.

[0254] In other words, the control unit ECU is configured to set the target trajectories of the vehicles 7, in particular in real time.

[0255] Therefore, the control unit ECU determines or comprises the current target trajectories of the vehicles 7.

[0256] At the same time, the control unit ECU is preferably configured to receive from each control unit 13 the estimate of the current position and / or orientation of the relative vehicle 7 during the mission.

[0257] Furthermore, preferably, the control unit ECU is configured to receive from the control units 13 the position and / or orientation, in particular absolute, of the objects on the floor 2, the presence of which is identified by the transduction apparatuses 26.

[0258] Preferably, the control unit ECU sets the target trajectories of the vehicles 7 as a function of the estimates of the relative positions and / or orientations, and / or the positions and / or orientations of the objects on the floor 2.

[0259] More preferably, the control unit ECU, as already mentioned, is also configured to receive from the control units 13 the categories of the same objects on the floor 2.

[0260] In this manner, the control unit ECU can monitor and manage the traffic of the fleet of vehicles 7.

[0261] The control unit ECU could determine which of the vehicles 30, 50, 90 is most suitable for cleaning the object, based on its category. In fact, the control unit ECU could have or comprise or store an association function associating each category of the predetermined set of categories with a corresponding one of the vehicles 30, 50, 90, whereby the control unit ECU is configured to determine the most suitable vehicle of the vehicles 30, 50, 90 as the one associated with the category of the object according to the association function, and set a cleaning mission or the trajectory of the most suitable vehicle for cleaning the object, more precisely via its cleaning device. If the category of the object does not fall within the predetermined set of categories, none of the vehicles 30, 50, 90 would be suitable for cleaning the object.

[0262] For example, the control unit ECU can reprocess the target trajectory of a vehicle 7 so as to avoid and / or evade one or more of the objects, in case the one or more of the objects is unsuitable to be cleaned via the cleaning devices (in particular of the vehicles 30, 50), or via the suction assembly and / or the sweeping assembly, or falls within the compact solid category with maximum dimension greater than the dimensional or particulate solid threshold with a dimension greater than a dust threshold. At the same time, in this case, although independently, the control unit ECU could command (in particular via the relative control unit 13) the picking up mission of the vehicle 90 to pick up the object. Alternatively or additionally, in this case, the control unit ECU could trigger an alarm indicative of a need for manual intervention, in particular for the warehouse operators.

[0263] For example, the control unit ECU could trigger the alarm indicative of a need for manual intervention, in particular for the operators of the warehouse 1, in case one or more of the objects is unsuitable to be picked up by the vehicle 90 or more precisely by the robotic manipulator 91.

[0264] More generally, each control unit 13 could trigger the alarm indicative of a need for manual intervention should the relative vehicle 7b or its cleaning devices be unsuitable for cleaning one or more objects, the presence of which is identified by the transduction apparatus 26 of the relative vehicle 7b.

[0265] The control unit ECU could coincide with one of the control units 13 or be carried by one of the vehicles 7, without any loss of generality.

[0266] For example, the control unit ECU could command (in particular via the relative control unit 13) the cleaning mission of the vehicle 50 so as to suck and / or sweep one or more of the objects, in case these fall within the liquid category.

[0267] For example, the control unit ECU could command (in particular via the relative control unit 13) the cleaning mission of the vehicle 30 so as to suck and / or sweep one or more of the objects, in case these fall within the particulate solid category with maximum dimension smaller than the dust threshold.

[0268] Preferably, the control unit ECU can command, in particular via the relative control units 13, the performance of a plurality of cleaning missions respectively of two or more of the vehicles 30, 50, 80, 90, where the corresponding cleaning target trajectories respectively comprise the transit through or the coverage (in particular total) of a same area for cleaning the area in distinct time periods according to a priority time order that provides for the transit through or the coverage of the area by the vehicles 90, 30, 50, 80, in such order of succession.

[0269] This does not mean that all cleaning missions of the vehicles 30, 50, 80, 90 are actually performed, as even only some of these could be performed, but anyway following the priority time order defined above.

[0270] Preferably, the control unit ECU is configured to determine, based on the knowledge of the relative current target trajectories, an occupancy parameter indicative of a degree of occupancy of any area by the service vehicles 7a for an occupancy time interval, for example predetermined. According to a non-limiting example, the parameter could be a portion of duration with respect to the overall duration of the interval (expressible, for example, as a percentage) in which the area is occupied by at least one vehicle 7a.

[0271] More preferably, the control unit ECU is configured to inhibit or avoid the performance of cleaning missions of the vehicles 7b, the target trajectory of which comprises a busy transit through an area at a time interval whereby the occupancy parameter indicates that the degree of occupancy exceeds an occupancy threshold.

[0272] In other words, the control unit ECU is configured to suspend or avoid the busy transit or even the entire target trajectory.

[0273] For clarity, the adjective “busy” is used herein only as a label to characterize a transit in the conditions in which the occupancy parameter exceeds the occupancy threshold, namely conditions in which the area of the transit is travelled by a relatively high number of vehicles 7. Therefore, such adjective does not have a limiting or different meaning with respect to what just stated.

[0274] According to an aspect, the busy transit is thus simply a transit through the area at the time interval whereby the occupancy parameter indicates that the degree of occupancy exceeds an occupancy threshold.

[0275] Preferably, the control unit ECU is configured to determine, for example from data entered by operators of the warehouse 1 or coming from the control units 13 of the service vehicles 7a, a fill parameter for one or more or each of the zones 6 or warehouse units 6b, the parameter being indicative of the fill level of the corresponding zone 6 or warehouse unit 6b.

[0276] More preferably, the control unit ECU is configured to command, for example via the relative control units 13, one or more cleaning missions of the vehicles 7b, the cleaning target trajectory of which comprises a transit or a (in particular total) coverage of an area corresponding to a zone 6 or warehouse unit 6b for cleaning the area, whereby the fill parameter indicates a fill level less than a fill threshold.

[0277] The control unit ECU conveniently has a user interface UI configured to allow a user to provide a time schedule of one or more or each of the missions already described, in particular the cleaning missions and / or provide a request to perform one or more or each of the missions already described, in particular the cleaning missions. The control unit ECU commands the control units 13 of the pertinent vehicles 7 based on the schedule and / or request provided to the user interface UI to satisfy the schedule and / or request, respectively. Therefore, alternatively or additionally, the control unit ECU sets the target trajectories of the vehicles 7 as a function of the schedule and / or request provided to the user interface UI.

[0278] The request can include, for example, one or more of an indication of the vehicle 7b or 7c to be involved (for example one of the vehicles 30, 50, 80, 90), of the portion lb in which to perform the mission (in particular the cleaning mission), of the zones 6 (possibly of the portion lb) and / or warehouse unit 6b (possibly of the zones 6) to be included or excluded in a path to be followed according to the cleaning target trajectory, of the time sequence with which the included zones 6 and / or warehouse units 6b are to be travelled according to the cleaning target traj ectory, of the date and / or time on / at which the mission (in particular the cleaning mission) is to be performed or, more precisely, on / at which the mission is to be started and / or finished.

[0279] The scheduling can include, for each mission, the same type of indications described for the request, with the possible addition of an indication of the time sequence and / or priority of the missions (in particular the cleaning mission), for example in case of multiple missions (in particular cleaning missions) in series, and / or of a periodicity (e.g. daily, weekly, every interval of a given number of hours, and the like) of a mission (in particular a cleaning mission) or of a group of missions (in particular cleaning missions).

[0280] The control unit ECU can preferably determine the schedule autonomously, in particular in a manner constrained by the schedule indications received via the user interface UI. For example, if the time sequence of the zones 6 and / or warehouse units 6b to be travelled is lacking or is not provided for one or more missions, the control unit ECU sets a standard time sequence stored in the control unit ECU, in particular by eliminating or skipping the passages from zones 6 and / or warehouse units 6b excluded according to the relative indication of the request or schedule. More generally this could be valid for any indication of a request or schedule, whereby if the indication is lacking or not provided, the control unit ECU sets a standard indication in place of the lacking one.

[0281] Alternatively or additionally, the scheduling can be determined autonomously by the control unit ECU as a function of the activity or the missions scheduled for the service vehicles 7a. Specifically, the control unit ECU comprises the scheduling of the missions of the vehicles 7a, for example as stored by the control unit ECU or received via the user interface UI. Similarly, as already mentioned, the control unit ECU receives from the relative control units 13 the current positions and / or orientations of the service vehicles 7a, as it can preferably receive from the relative control units 13 the current target trajectories of the service vehicles 7a.

[0282] The control unit ECU, in particular based on the estimates of the current positions and / or the scheduling or request of the missions of the vehicles 7 (including one or more of the vehicles 7b, 7c, 7a), and / or based on the current target trajectories of the vehicles 7, is configured to determine a conflict between one of the vehicles 7a and one of the vehicles 7b when (or only when) the relative current target trajectories intersect, or when (or only when) the current target traj ectory of the vehicle 7a comprises a passage or transit at a conflict time period through a conflict area that has to be covered (in particular totally) by the vehicle 7b during a coverage time interval comprising the same time period according to the current target trajectory of the vehicle 7b.

[0283] According to an operating mode, in case of determined conflict, the control unit ECU is configured to reprocess the target trajectory of the vehicle 7a to circumvent the conflict area, in particular by maintaining unvaried the starting point and the arrival point of the target trajectory. The reprocessing of the control unit ECU could occur in many manners, possibly known per se, for example via a known collision avoidance algorithm or by recalculating the target trajectory by solving a constrained optimal control problem comprising the constrained minimization of a cost function increasing with the distance travelled between the starting point and the arrival point, as well as constraints that prohibit or penalize in the cost function the passage in the conflict area.

[0284] In this operating mode, if the reprocessing fails, for example because the arrival point is located in the conflict area at an instant of the coverage time interval or because it is impossible to circumvent the conflict area, the control unit ECU is configured to reprocess the target trajectory of the vehicle 7b to leave free a path section of the target trajectory of the vehicle 7a in the conflict area during the conflict time period and to complete the coverage of the area at the end of the conflict time period. The latter type of reprocessing of the target trajectory of the vehicle 7b could also be valid regardless of the outcome of the other reprocessing of the vehicle 7a, thereby defining a further possible operating mode in its own right.

[0285] According to a further operating mode, in case of determined conflict, the control unit ECU is configured to reprocess the target trajectory of the vehicle 7b so as to drive the vehicle 7b into or make the vehicle 7b enter the conflict area only after the transit of the vehicle 7a through the conflict area. In other words, the control unit ECU reprocesses the target trajectory of the vehicle 7b to place it on hold for the transit of the vehicle 7a, so that the vehicle 7b begins covering the conflict area only after the transit of the vehicle 7a.

[0286] For clarity, the operations carried out by the control unit ECU could be carried out by each of the control units 13 communicating with the control unit ECU, without any loss of generality. Therefore, the control unit ECU could comprise one or more control units 13 on the vehicles 7 and / or a remote control unit with respect to the vehicles 7.

[0287] Based on the foregoing, the advantages of the vehicle 7b and the management apparatus according to the invention are evident.

[0288] The vehicle 7b allows cleaning the environment of the warehouse 1 and its floor 2 in an automated manner using the same automated driving technology used by the service vehicles 7a, so that the vehicle 7b can be integrated in the fleet of vehicles 7 and managed by the management apparatus that already manages the vehicles 7a, without the need to set up further management apparatuses dedicated to the specific control of other known cleaning devices.

[0289] The vehicle 7b can perform the cleaning missions in the same environment in which the vehicles 7a operate, without hindering their operation.

[0290] The management apparatus adjusts the traffic of the fleet 7, whereby it can be used to perform the cleaning missions with optimized times and modes, managing their scheduling with respect to the missions of the service vehicles 7a.

[0291] The management apparatus can determine the most suitable of the vehicles 7b for performing a specific cleaning mission, taking into account the category of the objects and / or the arrangement of the areas to be cleaned.

[0292] Finally, it is clear that modifications and variations can be made to the vehicle 7b and the management apparatus according to the invention, which anyway do not depart from the scope of protection defined by the claims.

[0293] In particular, the various described and illustrated embodiments and examples can be combined with one another without any sort of limitations, with particular reference to the various characteristics described individually in the various paragraphs of the description. Each of such characteristics is independently applicable to each of the embodiments described.

[0294] For example, a vehicle 7b can comprise one or more or even all of the described and illustrated cleaning devices.

[0295] Furthermore, the warehouse 1 is an example of structure that requires cleaning missions, but could be replaced by further types of structures, building complexes and / or open areas, for example provided with the floor 2.

[0296] Furthermore, the use of alternative terms or expressions, for example but not exhaustively in the form of two terms or expressions separated by the conjunction “or”, and the like, within the description, means that the two terms or expressions can be considered arbitrarily interchangeable throughout the description.

[0297] For example, this is valid in particular for the terms “mission” and “target trajectory”, with the possible addition of other adjectives and / or attributes.

[0298] Furthermore, the term “area” in the description could be always traced back to an area of the floor 2 or the ground. The expression “when” used in the description can be replaced by and / or interpreted with the expression “in response to the fact that”.

[0299] Finally, in the following a plurality of aspects are provided that summarize what described above; such aspects can be combined with all that is described above and / or can be exemplified or specified by the embodiments described and illustrated in this description. For example, each of such aspects could define the subject matter of a corresponding invention described in an exemplifying manner by the embodiments of the present description and the accompanying drawings.

[0300] In a first aspect, a laser guided vehicle 7b comprises

[0301] - a propulsion assembly 10 configured to move the laser guided vehicle 7b on a floor 2, in particular of a warehouse 1,

[0302] - a laser detection assembly 11 configured to detect information about the relative positions of reflectors 12 by emitting laser beams onto the reflectors 12 and receiving the reflected laser beams,

[0303] - a control unit 13 configured to control the propulsion assembly 10 to move the laser guided vehicle 7 according to a target trajectory as a function of the information detected via the laser detection assembly 11, and

[0304] - a cleaning device (e.g. 31, 37, 38, 51, 57, 58, 81, 92, 93) configured to clean the floor 2.

[0305] In a second aspect according to the first aspect, the cleaning device comprises a suction assembly (e.g. 31, 51) and / or a sweeping assembly (e.g. 37, 38, 57, 58) respectively configured to suck and sweep waste on the floor 2.

[0306] In a third aspect according to the second aspect, the suction assembly (e.g. 31, 51) comprises a suction channel (e.g. 33, 53) with a suction port (e.g. 53, 54) arranged to result facing towards the floor 2 and a vacuum generating device (e.g. 32, 52) configured to generate a vacuum at the suction channel (e.g. 33, 53) to suck the waste through the suction port (e.g. 34, 54).

[0307] In a fourth aspect according to the third aspect, the laser guided vehicle 7b further comprises a frame 15 and a container 36 communicating with a waste transit port 35 of the suction channel 33 to accommodate the sucked waste, the container 36 being carried by the frame 15 in a movable manner via a mechanism 40 configured to empty the container 36 on the outside of the laser guided vehicle by moving the container 36, although maintaining a fixed orientation of the container, between a retracted configuration and an extracted configuration, wherein the container 36 is more and less spaced away from the frame 15, respectively, and / or by varying the orientation in the space of the container 36 between an upright orientation and an upside down orientation respectively adapted to hold the waste on a bottom 36a of the container 36 and spill the waste outside of the container 36.

[0308] In a fifth aspect according to the third or fourth aspect, the sweeping assembly comprises brushing means (e.g. 37, 38, 57, 58) configured to convey the waste at the suction port (e.g. 53, 54).

[0309] In a sixth aspect according to any one of the preceding aspects, the cleaning device comprises a sanitizing assembly (e.g. 81, 82) configured to dispense a sanitizing fluid onto the floor 2 and / or to disinfect the floor 2 via the emission of a disinfecting light.

[0310] In a seventh aspect according to any one of the preceding aspects, the cleaning device comprises a robotic manipulator 91 carried by a frame 15 of the laser guided vehicle and configured to pick up and place an object arranged on the floor 2.

[0311] In an eighth aspect according to any one of the preceding aspects, the target trajectory comprises

[0312] - a first trajectory portion corresponding to a total coverage of a first area of the floor 2,

[0313] - a second trajectory portion corresponding to a transfer of the laser guided vehicle 7b from the first area to a second area of the floor 2, distinct from the first area, along a path defined on the floor 2 by a line, and

[0314] - a third trajectory portion corresponding to a total coverage of the second area.

[0315] In a ninth aspect according to any one of the preceding aspects, the target trajectory comprises an approach of the vehicle 7b to an object on the floor 2 to be cleaned, wherein the approach comprises reaching a distance from the object less than or equal to a threshold corresponding to a maximum distance sufficient to clean the object via the cleaning device (e.g. 31, 37, 38, 51, 57, 58, 81, 92, 93).

[0316] In a tenth aspect according to any one of the preceding aspects, the cleaning device comprises a dispensing assembly 59 comprising a plurality of dispensing orifices 59b arranged to be facing towards the floor 2 to dispense a detergent fluid onto the floor 2, a first tank 59c for containing the detergent fluid, and a supply circuit 59d configured to supply the dispensing orifices 59b with the detergent fluid contained in the first tank 59c. In an eleventh aspect, a restorative assembly comprises a laser guided vehicle 50 according to the tenth aspect and a restorative station 60 relatively arranged in an interfacing position, the restorative station 60 and the laser guided vehicle 50 respectively comprising a first and a second pipeline 65, 66 coupled to each other to communicate with each other, wherein the first and second pipelines 65, 66 are respectively connected to a second tank assembly 62 of the restorative station 60 to provide the detergent fluid and to the first tank 59c, so that the detergent fluid provided by the second tank assembly 62 can be supplied to the first tank 59c via a pumping device 69 of the restorative station 60, the second pipeline 66 extending from a first port 70 defining an inlet of the first tank 59c to a second port 71 coupled to the first pipeline 65 to receive the detergent fluid from the first pipeline 65, the laser guided vehicle 50 comprising a membrane 76 being elastic and flexible at the first port 70 so as to occlude the first port 70, the membrane 76 having a fixed portion 76a with respect to the second pipeline 66 and a labile portion 76b with a free edge 76c with respect to the second pipeline 66.

[0317] In a twelfth aspect, a plant 1 comprises a laser guided vehicle 7b according to any one of the preceding aspects and a cleaning station 100, wherein the propulsion assembly 10 of the laser guided vehicle 7b comprises one or more movable driving members 14 configured to cooperate with the floor 2, such that a motion of the driving members 14 corresponds to an advancement of the laser guided vehicle 7b on the floor 2, the cleaning station 100 being configured to be accessible to the laser guided vehicle 7b via the driving members 14 and comprising one or more cleaning apparatuses 104, 105, 106 configured to clean the driving members 14 and / or the cleaning device of the laser guided vehicle 7b.

[0318] In a thirteenth aspect, an apparatus, for example forming part of the plant 1 according to the twelfth aspect, comprises a management control unit ECU and a fleet of laser guided vehicles 7, in turn comprising a first laser guided vehicle 7b according to any one of the aspects from the first to the eleventh aspect, and at least a second laser guided vehicle 7a having a further propulsion assembly 10, a further laser detection assembly 11, a further control unit 13 like the first laser guided vehicle 7b, and comprising at least one handling device 8 configured to store and / or pick up at least one loading unit 9 on a storage location 3, wherein the management control unit ECU is configured to set the respective target trajectories of the first and second laser guided vehicles 7b, 7a in real time, thereby determining relative current target trajectories of the first and second laser guided vehicles 7b, 7a.

[0319] In a fourteenth aspect according to the thirteenth aspect, the management control unit ECU is configured to determine a conflict between the first laser guided vehicle 7b and the second laser guided vehicle 7a based on the relative current target trajectories when the current target trajectory of the second laser guided vehicle 7a comprises a transit at a conflict time period through a conflict area to be covered by the first laser guided vehicle 7b according to the current target trajectory of the first laser guided vehicle 7b during a coverage time interval comprising said time period, wherein the management control unit ECU is configured, in case the conflict is determined, to

[0320] - reprocess the target trajectory of the second laser guided vehicle 7a to circumvent the conflict area, or

[0321] - reprocess the target trajectory of the first laser guided vehicle 7b to leave free a path section of the target trajectory of the second laser guided vehicle 7a in the conflict area during said conflict time period and to complete the coverage of the conflict area at the end of the conflict time period, or

[0322] - reprocess the target trajectory of the first laser guided vehicle 7b to drive the first laser guided vehicle 7b into the conflict area only after said transit.

[0323] In a fifteenth aspect according to the thirteenth or fourteenth aspect, the fleet of laser guided vehicles (7) comprises a third laser guided vehicle 7c having a further propulsion assembly 10, a further laser detection assembly 11, a further control unit 13 like the first laser guided vehicle 7b, and comprising a transduction apparatus 26 comprising one or more transducers configured to identify the presence of an object on the floor 2 and classify the object into a category of a predetermined set of categories distinguished from one another by a physical state and / or an extension of a dimension of the object classified therein, the control unit 13 of the third laser guided vehicle 7c being configured to extract the category of the object from the transduction apparatus 26 and communicate the category of the object to the management control unit (ECU), wherein the fleet of laser guided vehicles 7 comprises at least a fourth and a fifth laser guided vehicle (e.g. 30, 50, 90) respectively according to the second aspect and the seventh aspect, the fourth and fifth laser guided vehicles (e.g. 30, 50, 90) being additional or each defined by one of the first and third laser guided vehicles 7b, 7c, the management control unit (ECU) having an association function associating each category of the predetermined set of categories with a corresponding one of the fourth and fifth laser guided vehicles 7b, 7c, whereby the management control unit ECU is configured to determine a most suitable vehicle between the fourth and fifth laser guided vehicles 7b, 7c as associated with the category of the object according to the association function, and to set the target trajectory of the most suitable vehicle for cleaning the object.

[0324] In a sixteenth aspect according to any one of the aspects from the thirteenth aspect to the fifteenth aspect, the fleet of laser guided vehicles 7 comprises at least two or more vehicles among a fourth, a fifth, and a sixth laser guided vehicle (e.g. 30, 50, 80, 90) respectively according to the second aspect, the sixth aspect, and the seventh aspect, the at least two or more vehicles being additional or with one of them defined by the first laser guided vehicle (7b, 7c), wherein the management control unit (ECU) is configured to set the target trajectory of each of the at least two or more vehicles with a corresponding coverage of a same area for cleaning the area, each coverage being associated with a corresponding one of distinct time periods according to a priority time order, the priority time order providing for the coverage of the area by the sixth, fourth, and fifth laser guided vehicles (e.g. 90, 30, 50, 80), in such order of succession.

[0325] In a seventeenth aspect according to any one of the aspects from the thirteenth aspect to the fifteenth aspect, the management control unit ECU is configured to determine, based on the current target trajectories, an occupancy parameter indicative of a degree of occupancy of an area by the second laser guided vehicle 7a and further optional second laser guided vehicles 7a for an occupancy time interval, the management control unit ECU being configured to avoid a busy transit of the target trajectory of the first laser guided vehicle 7b through said area in said occupancy time interval when the occupancy parameter indicates that the degree of occupancy exceeds an occupancy threshold.

[0326] In an eighteenth aspect, a plant 1 comprises an apparatus according to any one of the aspects from the thirteenth to the seventeenth aspects, and a zone 6 provided with a storage capacity for storing loading units 9, whereby the zone 6 has a fill level relative to the storage capacity, the management control unit ECU being configured to determine a fill parameter for the zone 6 indicative of the fill level of the zone 6 and set the target trajectory of the first laser guided vehicle 7b with a coverage of an area corresponding to the zone 6 for its cleaning when the fill parameter indicates that the fill level is less than a fill threshold.

Claims

CLAIMS1.- Warehouse (1) comprising a management apparatus comprising a management control unit (ECU) and a fleet of laser guided vehicles (7), in turn comprising a first laser guided vehicle (7b) and at least a second laser guided vehicle (7a) comprising- respective propulsion assemblies (10) respectively configured to move the first and second laser guided vehicles (7b, 7a) on a floor (2),- respective laser detection assemblies (11) respectively configured to detect respective information about the relative positions of reflectors (12) by emitting laser beams onto the reflectors (12) and receiving the reflected laser beams,- respective control units (13) respectively configured to control the respective propulsion assemblies (10) to move the first and second laser guided vehicles (7b, 7a), respectively, according to relative target trajectories as a function of the respective information detected via the respective laser detection assemblies (11), wherein the first laser guided vehicle (7b) further comprises a cleaning device (31, 37, 38, 51, 57, 58, 81, 92, 93) configured to clean the floor (2), the second laser guided vehicle (7a) further comprising at least one handling device (8) configured to store and / or pick up at least one loading unit (9) on a storage location (3), wherein the management control unit (ECU) is configured to set the respective target trajectories of the first and second laser guided vehicles (7b, 7a) in real time, thereby determining the relative current target trajectories of the first and second laser guided vehicles (7b, 7a).2.- The warehouse according to claim 1, wherein the management control unit(ECU) is configured to determine a conflict between the first laser guided vehicle (7b) and the second laser guided vehicle (7a) based on the relative current target trajectories when the current target trajectory of the second laser guided vehicle (7a) comprises a transit at a conflict time period through a conflict area to be covered by the first laser guided vehicle (7b) according to the current target trajectory of the first laser guided vehicle (7b) during a coverage time interval comprising said time period, wherein the management control unit (ECU) is configured, in case the conflict is determined, to- reprocess the target trajectory of the second laser guided vehicle (7 a) to circumvent the conflict area, or- reprocess the target trajectory of the first laser guided vehicle (7b) to leave free a path section of the target trajectory of the second laser guided vehicle (7 a) in the conflict areaduring said conflict time period and to complete the coverage of the conflict area at the end of the conflict time period, or- reprocess the target trajectory of the first laser guided vehicle (7b) to drive the first laser guided vehicle (7b) into the conflict area only after said transit.3.- The warehouse according to claim 1 or 2, wherein the fleet of laser guided vehicles (7) comprises a third laser guided vehicle (7c) having- a further propulsion assembly (10) configured to move the third laser guided vehicle (7c) on the floor (2),- a further laser detection assembly (11) configured to detect further information about the relative positions of the reflectors (12) by emitting laser beams onto the reflectors (12) and receiving the reflected laser beams,- a further control unit (13) configured to control the further propulsion assembly (10) to move the third laser guided vehicle (7c) according to a further target trajectory as a function of the information detected via the laser detection assembly (11), and- a transduction apparatus (26) comprising one or more transducers configured to identify the presence of an object on the floor (2) and classify the object into a category of a predetermined set of categories distinguished from one another by a physical state and / or an extension of a dimension of the object classified therein, the further control unit (13) of the third laser guided vehicle (7c) being configured to extract the category of the object from the transduction apparatus (26) and communicate the category of the object to the management control unit (ECU).4.- The warehouse according to claim 3, wherein the fleet of laser guided vehicles(7) comprises another said first laser guided vehicle (7b), whereby two first laser guided vehicles (7b) respectively defining a fourth and a fifth laser guided vehicle (30, 50, 90), wherein the cleaning device of the fourth laser guided vehicle comprises a suction assembly (31, 51) and / or a sweeping assembly (37, 38, 57, 58) respectively configured to suck and sweep waste on the floor (2), and wherein the cleaning device of the fifth laser guided vehicle comprises a robotic manipulator (91) carried by a frame (15) of the fifth laser guided vehicle and configured to pick up and place a further object arranged on the floor (2), the management control unit (ECU) having an association function associating each category of the predetermined set of categories with a corresponding one of the fourth and fifth laser guided vehicles (7b, 7c), whereby the management control unit(ECU) is configured to determine a most suitable vehicle between the fourth and fifth laser guided vehicles (7b, 7c) as being associated with the category of the object according to the association function, and to set the target trajectory of the most suitable vehicle to clean the object.5.- The warehouse according to claim 3, wherein the third laser guided vehicle(7c) further comprises a further cleaning device (31, 37, 38, 51, 57, 58, 81, 92, 93) configured to clean the floor (2), wherein one of the cleaning device of the first laser guided vehicle (7b) and the further cleaning device of the third laser guided vehicle (7c) comprises a suction assembly (31, 51) and / or a sweeping assembly (37, 38, 57, 58) respectively configured to suck and sweep waste on the floor (2), the other one of the cleaning device of the first laser guided vehicle (7b) and the further cleaning device of the third laser guided vehicle (7c) comprising a robotic manipulator (91) carried by a frame (15) of the relative laser guided vehicle and configured to pick up and place a further object arranged on the floor (2), the management control unit (ECU) having an association function associating each category of the predetermined set of categories with a corresponding one of the first and third laser guided vehicles (7b, 7c), whereby the management control unit (ECU) is configured to determine a most suitable vehicle between the first and third laser guided vehicles (7b, 7c) as being associated with the category of the object according to the association function, and to set the target trajectory of the most suitable vehicle to clean the object.6.- The warehouse according to any one of the preceding claims, wherein the fleet of laser guided vehicles (7) comprises at least another said first laser guided vehicle (7b), whereby two or more first laser guided vehicles (7b) each defined by one of a fourth, a fifth, and a sixth laser guided vehicle (30, 50, 90, 80), wherein the cleaning device of the fourth laser guided vehicle comprises a suction assembly (31, 51) and / or a sweeping assembly (37, 38, 57, 58) respectively configured to suck and sweep waste on the floor (2), and wherein the cleaning device of the fifth laser guided vehicle comprises a robotic manipulator (91) carried by a frame (15) of the fifth laser guided vehicle and configured to pick up and place a further object arranged on the floor (2), and wherein the cleaning device of the sixth laser guided vehicle comprises a sanitizing assembly (81, 82) configured to dispense a sanitizing fluid onto the floor (2) and / or to disinfect the floor (2) by emitting a disinfecting light, wherein the management control unit (ECU) is configuredto set the target trajectory of each of the at least two or more first laser guided vehicles with a corresponding coverage of a same area for cleaning the area, each coverage being associated with a corresponding of distinct time periods according to a priority time order, the priority time order providing for the coverage of the area by the fifth, fourth, and sixth laser guided vehicles (90, 30, 50, 80), in that order of succession.7.- The warehouse according to claim 6, when dependent on any one of claims 3 to 5, wherein the third laser guided vehicle (7c) is one of the fourth, fifth, and sixth laser guided vehicles (30, 50, 90, 80).8.- The warehouse according to any one of the preceding claims, wherein the management control unit (ECU) is configured to determine, based on the current target trajectories, an occupancy parameter indicative of a degree of occupancy of an area by the second laser guided vehicle (7a) and further optional second laser guided vehicles (7a) for an occupancy time interval, the management control unit (ECU) being configured to avoid a busy transit of the target trajectory of the first laser guided vehicle (7b) through said area in said occupancy time interval when the occupancy parameter indicates that the degree of occupancy exceeds an occupancy threshold.9.- The warehouse according to any one of the preceding claims, comprising a zone (6) provided with a storage capacity for storing loading units (9), whereby the zone (6) has a fill level relative to the storage capacity, the management control unit (ECU) being configured to determine a fill parameter for the zone (6) indicative of the fill level of the zone (6) and to set the target trajectory of the first laser guided vehicle (7b) with a coverage of an area corresponding to the zone (6) for the cleaning of the zone (6) when the fill parameter indicates that the fill level is less than a fill threshold.

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